ID : 162

ArchMove

Function

To perform an arch motion.

Syntax

ArchMove target position, height[, arch start position[, arch finish position]]

Guaranteed entry

Target position: Designate a target position. Select from position type, homogeneous translation type and joint type data.
Height: Designate the distance whichever the larger during the arch motion; the distance from the current position to the most highest position; or, the distance from the target position to the most highest position.
Arch start position: Designate a distance from the current position to the start point of the arch by single precision real number type data. You cannot designate any value larger than height. This is an optional value. This should be "0" if this is omitted.
Arch finish position: Designate a distance of the straight line approaching toward the target position by single precision real number type data. You cannot designate any value larger than height. This is an optional value. This should be "0" if this is omitted.

Description

An arch motion is performed.

To execute this statement, the task must acquire robot axis control.

Related Terms

Attention

It is impossible to start ArchMove with Pass motion.
When you start ArchMove following to a previous motion, you can not choose the Pass motion for the target position option of the previous motion command.

    Move P, @0 P[0] 'Move to the target position P[0] with End motion.
    ArchMove P[1], 20 'Move to the target position P[1] with Arch motion with 20mm height.

Example

'!TITLE "Arch Motion Movement to Target Position"
' Move arch motion from current position to target position
Sub Sample_ArchMove
    
    TakeArm Keep = 0
    
    Dim aaa As Position
    Dim bbb As Position
    
    ' Assign the current position to aaa
    aaa = CurPos
    bbb = Dev( aaa, P( -200, 50, 100, 0, 0, 0, -1 ) )
    
    ' Move arch motion to target position bbb at height 150
    ArchMove bbb, 150
    
    ' Move to coordinate position of aaa
    Move P, aaa
    
    ' Move arch motion to target position bbb at height 150, arch start position, finish position 80
    ArchMove bbb, 150, 80, 80
    
End Sub

ID : 162

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